TY - GEN
T1 - Tracking control of a harmonic drive actuator with sliding-mode disturbance observers
AU - Lu, Yu Sheng
AU - Hwang, Chi Sheng
PY - 2009
Y1 - 2009
N2 - This paper describes the tracking control of a harmonic drive actuator that features flexible transmission with significant torque ripples. The plant is modeled as a flexible-joint mechanism, and a design approach superior to the conventional integrator backstepping design is demonstrated to obtain a nominal controller. To deal with the torque ripples, internal model principle-based sliding-mode disturbance observers (IMP-SDOBs) are designed by incorporating the disturbance model into the SDOB design. Experimental studies on a harmonic drive actuator equipped with a torque sensor are conducted, demonstrating the feasibility of the proposed controller/observer structure.
AB - This paper describes the tracking control of a harmonic drive actuator that features flexible transmission with significant torque ripples. The plant is modeled as a flexible-joint mechanism, and a design approach superior to the conventional integrator backstepping design is demonstrated to obtain a nominal controller. To deal with the torque ripples, internal model principle-based sliding-mode disturbance observers (IMP-SDOBs) are designed by incorporating the disturbance model into the SDOB design. Experimental studies on a harmonic drive actuator equipped with a torque sensor are conducted, demonstrating the feasibility of the proposed controller/observer structure.
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U2 - 10.1109/AIM.2009.5229783
DO - 10.1109/AIM.2009.5229783
M3 - Conference contribution
AN - SCOPUS:70350447829
SN - 9781424428533
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1798
EP - 1803
BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Y2 - 14 July 2009 through 17 July 2009
ER -